Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Make SysId's default step voltage smaller #7794

Open
calcmogul opened this issue Feb 16, 2025 · 0 comments · May be fixed by #7795
Open

Make SysId's default step voltage smaller #7794

calcmogul opened this issue Feb 16, 2025 · 0 comments · May be fixed by #7795
Labels
component: examples component: sysid SysId app type: fix Iterations on existing features or infrastructure.

Comments

@calcmogul
Copy link
Member

calcmogul commented Feb 16, 2025 •
edited
Loading

Motors are more powerful these days, which means the default voltage tends to make wheels slip, invalidating the test data.

Normal velocity data shows an exponential decay from rest to the steady-state velocity. Slippage manifests in the velocity data as a spike, then an exponential decay down to an intersection with the normal exponential decay curve.

This change would be made in the SysIdRoutine examples.
@calcmogul calcmogul added component: sysid SysId app type: fix Iterations on existing features or infrastructure. component: examples labels Feb 16, 2025
calcmogul added a commit to calcmogul/allwpilib that referenced this issue Feb 17, 2025
@calcmogul
[cmd] Decrease default step voltage in SysIdRoutine command
6ea2ef0 
The old default was selected back when DC brushed motors were the norm.
Motors are powerful enough now that it can cause wheel slip, which
invalidates the test data.

Fixes wpilibsuite#7794.
@calcmogul calcmogul linked a pull request Feb 17, 2025 that will close this issue
Open
calcmogul added a commit to calcmogul/allwpilib that referenced this issue Feb 19, 2025
@calcmogul
[cmd] Decrease default step voltage in SysIdRoutine command
912cdf5 
The old default was selected back when DC brushed motors were the norm.
Motors are powerful enough now that it can cause wheel slip, which
invalidates the test data.

Fixes wpilibsuite#7794.
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
component: examples component: sysid SysId app type: fix Iterations on existing features or infrastructure.
Projects
None yet
Milestone
No milestone
Development

Successfully merging a pull request may close this issue.

[cmd] Decrease default step voltage in SysIdRoutine command calcmogul/allwpilib
1 participant
@calcmogul